Chapter 2 MATHEMATICAL FOUNDATION

2-1 (a)

Poles: s = 0, 0,
Zeros: s =

1, 10;

(b)

Poles: s =

2, , , .

2, 2;

Zeros: s = 0.
The pole and zero at s =

(c)

Poles: s = 0,

1 + j, 1 j;

Zeros: s =

(d)

Poles: s = 0,

1, 2, .

2.

2-2 (a)

(b)
G (s) =

( s + 5)

(c)
G ( s) =

(d)

(s

4s
2

(e)
G ( s)

1 cancel each other.

1
s

G (s)

+4

+4

G (s)

s+ 2

kT ( s + 5 )

=
1

k =0

2-3 (a)
g ( t ) = u s ( t ) 2u s (t 1) + 2 u s( t 2) 2 u s ( t 3) + L
G (s ) =

1
s

(1 2e s + 2e2 s 2e 3s + L ) =

gT (t ) = u s (t ) 2us (t 1) + us (t 2)
GT (s ) =

1
s

(1 2e s + e 2s ) = ( 1 e s )
1

1e

s 1+ e

0 t 2
2

T ( s+5 )

4
s

+ 4s +8

g(t )

2k )us (t 2k )

(t

G (s)

k =0

(1

) e

2 ks

k =0

1 e

s (1 + e

(b)
g ( t) = 2tu s ( t ) 4(t 0.5) u s (t 0.5) + 4(t 1) us (t 1) 4(t 1.5)us (t 1.5) + L
G ( s) =
g

(1 2e

2
2

0.5 s

+ 2e

2e

1.5 s

0.5 s
(
)
+ L) = 2
0.5 s
s (1 + e
)

2 1e

= 2 tu s ( t ) 4 ( t 0 . 5) u s ( t 0 . 5) + 2( t 1 ) u s ( t 1 )

(t )

(1 2e0.5 s + e s ) = s 2 (1 e0.5 s )

GT ( s ) =

g (t ) =

k=0

G(s ) =

t 1

g T ( t k )us ( t k )

s2 (
2

1 e

0.5 s

k=0

ks

( 0.5 s )
2
0.5s
s (1 + e
)
2 1e

2-4
g(t )

= ( t + 1 ) u s ( t ) ( t 1 ) u s ( t 1 ) 2 u s ( t 1 ) ( t 2 ) u s ( t 2 ) + ( t 3) u s ( t 3) + u s ( t 3)

G ( s) =

2-5 (a)

(1 e s e 2 s + e 3 s ) + s (1 2e s + e 3 s )

Taking the Laplace transform of the differential equation, we get

1
1
2
( s + 5s + 4) F ( s) =
F (s) =
s +2
( s + 1)( s + 2 )( s
f (t )

4 t

(b)

sX ( s )
1

x1( 0 ) =

2 t

+4)

1
6( s

+ 4)

X (s)

X (s)

=1

x (0)

s( s

+ 3 s +1

+ 1 )( s + 2 )
1

(s

+ 1 )( s + 2 )

= 0 .5 + e

0 .5 e

3( s

+ 1)

1
2( s

+ 2)

sX

(s)

x 2 ( 0 ) = 2 X 1 ( s ) 3 X 2 ( s ) +

=
=

2s

1
s

+1

1
s

+1

1
2( s

+ 2)

1
s

+2

Taking the inverse Laplace transform on both sides of the last equation, we get
x (t )

Solving for X1 (s) and X2 (s), we have

X 1 ( s)

2 t

x (t )
2

= e

+e

2 t

1
s

x (0)
2

=0

2-6 (a)
G (s)

(b)
G (s)

(c)
G (s ) =

1
3s

2 . 5

50

(s

20

1
s

s
s

g(t )

= 0 .5 t

0.5 t

2 .5

1
s

g(t )

+3

s +4

g (t )

+ 3)

3( s

30s + 20

+s+2

g (t ) = 1 + 1.069e

(e)

s +1

(d)
G (s)

+ 1)

+ 2)

2( s

+1

= 2 . 5 e

2 t

+s +2

3 t

+ 5 te

g (t ) = 50 20e

1
2

(t 1)

+ 2 .5 e

3 t

] us (t 1)

30cos2(t 1) 5sin2(t 1)

s
s

Taking the inverse Laplace transform,

+s+2

[ sin1.323t + sin (1.323t 69.3o ) ] = 1 + e0.5 t (1.447sin1.323t cos1.323t )

2-7

1 2 0
A = 0 2 3

1 3 1

2-8

0 0
B = 1 0

0 1

u (t ) =

(a)

u1( t)
u ( t)
2

(b)
Y (s )

R (s )

3s + 1
3

Y (s)

s + 2 s +5s + 6

R (s )

(c)

5
4

s + 10 s + s + 5

(d)

Y (s )
R (s )

s ( s + 2)
4

Y (s )

s + 10 s + 2 s + s + 2

R (s )

1+ 2e
2

2s + s + 5

t0